The library works with any properly written URDF file that describes a kinematic tree. We officially support several robot models which are shown in Figure REF . Our algorithms are carefully tested on these robots to ensure that computations within our framework are identical to that of a commercial physics engine such as Bullet [1]}. Our library implementation is based on spatial vector notation and implements kinematics, such as forward kinematics and Jacobian computations, as well as rigid body dynamics following Featherstone's book [2]}.
Specifically, to compute the various components of the robot equations of motions, it implements the Recursive Newton Euler (RNEA) Algorithm (inverse dynamics), the Composite Rigid Body Algorithm (CRBA) (inertia matrix computation), and the Articulated Body Algorithm (ABA) (forward dynamics).
